get_prim_info
Retrieve detailed prim information including type, children, local and world transforms, rotation, scale, and actual size for geometric prims to reason about distances and contact in Isaac Sim.
Instructions
Get detailed information about a specific prim.
Returns type, children, and a transform block. Position is reported in both frames, under explicit names — there is no bare "position": position_local — parent-relative, the value transform_object writes. position_world — where the prim actually is on the stage. Use this to reason about distances, reach, or contact. For a robot link such as /World/Franka/fr3_hand_tcp the two differ by the robot's own pose. position_world_source is "usd" (derived from the authored transform) or "physics" (measured, on Newton). On Newton a body that has been simulated may carry position_warning saying both values are its spawn pose; read it through get_physics_state instead.
Also returns rotation [rx, ry, rz] in degrees (XYZ order, the same convention transform_object accepts) and scale — both local, like position_local. For geometric prims (Cube, Sphere, Cylinder, Cone, Capsule), also returns actual_size [x, y, z] in meters accounting for scale and default primitive dimensions (world-space, like position_world).
Args: prim_path: The USD prim path to inspect.
Input Schema
| Name | Required | Description | Default |
|---|---|---|---|
| prim_path | Yes |
Output Schema
| Name | Required | Description | Default |
|---|---|---|---|
| result | Yes |